publications

30journal articles 49conference papers 3patents Google Scholar ↗

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Journal Articles

2026
  1. [J30]
    Optimization of power allocation scheduling and component sizing in battery-assisted electrolyser systems
    van der Peet, I., Krishnamoorthy, D., Deen, N.
    Applied Energy, In press
  2. [J29]
    Output Sensitivity Modification for Nonlinear Model Predictive Control
    Gabrielsen, T. A., Imsland, L., Krishnamoorthy, D.
    IEEE Control Systems Letters, Vol. 10, p. 1657-1662
  3. [J28]
    Structure-aware Constraint Configuration for Distributed Online Trajectory Generators: An Application to Mobile Robot Navigation
    de Vos, K., Minten, T., Bruyninckx, H., van de Molengraft, R., Krishnamoorthy, D., Torta, E.
    Control Engineering Practice, Vol. 175, p. 107135
    pdf
2025
  1. [J27]
    Predictive density profile control with discrete pellets, applied to integrated simulations of ITER
    Orrico, C. A., van Berkel, M., Bosman, T., Ceelen, L., Heemels, W.P.M.H., Koechl, F., Krishnamoorthy, D.
    Nuclear Fusion, Vol. 65(7), p. 076041
    pdf
  2. [J26]
    ECCBO: An Inherently Safe Bayesian Optimization with Embedded Constraint Control for Real-time Process Optimization
    Krishnamoorthy, D.
    Journal of Process Control, Vol. 152, p. 103467
    ★ IFAC JPC Paper Prize 2023–26 (Theory) pdf
  3. [J25]
    A General-Purpose Approach to Multi-Agent Bayesian Optimization Across Decomposition Methods
    Krishnamoorthy, D.
    Optimization and Engineering, Vol. 26, pp. 1541–1565
    pdf
  4. [J24]
    A Comparative Study of Distributed Feedback Optimizing Control Architectures
    Dirza, R., Varadarajan, H. P., Aas, V., Skogestad, S., Krishnamoorthy, D.
    IEEE Transactions on Control Systems Technology, Vol. 33(2), pp. 613–628
    pdf
2023
  1. [J23]
    An Improved Data Augmentation Scheme for Model Predictive Control Policy Approximation
    Krishnamoorthy, D.
    IEEE Control Systems Letters, Vol. 7, pp. 1867–1872
    pdf
  2. [J22]
    Mixed-Integer MPC Strategies for Fueling and Density Control in Fusion Tokamaks
    Orrico, C. A., van Berkel, M., Bosman, T., Heemels, W.P.M.H., Krishnamoorthy, D.
    IEEE Control Systems Letters, Vol. 7, pp. 1897–1902
    ★ IEEE CSS TC-ES Outstanding Student Paper Prize pdf
  3. [J21]
    Integrated model control simulations of the electron density profile and the implications of using multiple discrete pellet injectors for control
    Bosman, T., Koechl, F., Ho, A., de Baar, M., Krishnamoorthy, D., van Berkel, M.
    Nuclear Fusion, Vol. 63, p. 126047
    pdf
  4. [J20]
    Stability Properties of the Adaptive Horizon Multi-Stage MPC
    Mdoe, Z., Krishnamoorthy, D., Jäschke, J.
    Journal of Process Control, Vol. 128, p. 103002
    pdf
  5. [J19]
    Safe and Personalized Meal Bolus Calculator for Type-1 Diabetes using Bayesian Optimization
    Krishnamoorthy, D., Doyle III, F. J.
    IEEE Transactions on Biomedical Engineering, Vol. 70(5), pp. 1481–1492
    pdfvideo
  6. [J18]
    Model-free Real-time Optimization of Process Systems using Safe Bayesian Optimization
    Krishnamoorthy, D., Doyle III, F. J.
    AIChE Journal, Vol. 69(4), p. e17993
    pdf
2022
  1. [J17]
    A Sensitivity-based Data Augmentation for Model Predictive Controller Policy Approximation
    Krishnamoorthy, D.
    IEEE Transactions on Automatic Control, Vol. 67(11), pp. 6090–6097
    pdfcode
  2. [J16]
    Experimental validation of distributed feedback-based real-time optimization
    Dirza, R., Matias, J., Skogestad, S., Krishnamoorthy, D.
    Control Engineering Practice, Vol. 126, p. 105253
    pdf
  3. [J15]
    Safe Bayesian Optimization using Interior-Point Methods – Applied to Personalized Insulin Dose Guidance
    Krishnamoorthy, D., Doyle III, F. J.
    IEEE Control Systems Letters, Vol. 6, pp. 2834–2839
    pdfextended version
  4. [J14]
    Real-Time Optimization as a Feedback Control Problem – A Review
    Krishnamoorthy, D., Skogestad, S.
    Computers & Chemical Engineering, Vol. 161, p. 107723
    Invited paper, Excellence in CAPE PhD Thesis Award pdf
2021
  1. [J13]
    A Distributed Feedback-based Online Process Optimization Framework for Optimal Resource Sharing
    Krishnamoorthy, D.
    Journal of Process Control, Vol. 97, pp. 72–83
    pdfcode
  2. [J12]
    A Model-free Approach to Automatic Dose Guidance in Long Acting Insulin Treatment of Type 2 Diabetes
    Krishnamoorthy, D., Boiroux, D., Aradóttir, T. B., Engell, S. E., Jørgensen, J. B.
    IEEE Control Systems Letters, Vol. 5(6), pp. 2030–2035
    pdfcodeslidesvideo
2020
  1. [J11]
    Systematic design of active constraint switching using selectors
    Krishnamoorthy, D., Skogestad, S.
    Computers & Chemical Engineering, Vol. 143, p. 107106
    pdfcodeslidesvideo
  2. [J10]
    Adaptive Horizon Economic Nonlinear Model Predictive Control
    Krishnamoorthy, D., Biegler, L., Jäschke, J.
    Journal of Process Control, Vol. 92, pp. 108–118
    pdfslides
  3. [J9]
    Plantwide control of an oil production network
    Jahanshahi, E., Krishnamoorthy, D., Codas, A., Foss, B., Skogestad, S.
    Computers & Chemical Engineering
    pdf
2019
  1. [J8]
    Optimal Control of offshore oil and gas production using simple feedback controllers
    Krishnamoorthy, D., Fjalestad, K., Skogestad, S.
    Control Engineering Practice, Vol. 91, p. 104107
    pdfcode
  2. [J7]
    Online process optimization with changes in active constraint sets using simple feedback control structures
    Krishnamoorthy, D., Skogestad, S.
    Industrial & Engineering Chemistry Research, Vol. 58, pp. 13555–13567
    pdfdoicode 1code 2
  3. [J6]
    Combining self-optimizing control and extremum seeking control – Applied to ammonia reactor case study
    Straus, J., Krishnamoorthy, D., Skogestad, S.
    Journal of Process Control, Vol. 78, pp. 78–87
    pdfslides
  4. [J5]
    A Primal decomposition algorithm for distributed multistage scenario model predictive control
    Krishnamoorthy, D., Foss, B., Skogestad, S.
    Journal of Process Control, Vol. 81, pp. 162–171
    pdfcodeslides
  5. [J4]
    A feedback RTO strategy using Transient Measurements
    Krishnamoorthy, D., Jahanshahi, E., Skogestad, S.
    Industrial & Engineering Chemistry Research, Vol. 58(1), pp. 207–216
    pdf
2018
  1. [J3]
    Steady-State Real-time Optimization using Transient Measurements
    Krishnamoorthy, D., Foss, B., Skogestad, S.
    Computers & Chemical Engineering, Vol. 115, pp. 34–45
    pdf
  2. [J2]
    Improving Scenario Decomposition for Multistage MPC using a Sensitivity-based Path-following Algorithm
    Krishnamoorthy, D., Foss, B., Suwartadi, E., Jäschke, J., Skogestad, S.
    IEEE Control Systems Letters, Vol. 2(4), pp. 581–586
    pdfslides
2016
  1. [J1]
    Real-Time Optimization under Uncertainty Applied to a Gas Lifted Well Network
    Krishnamoorthy, D., Foss, B., Skogestad, S.
    Processes, Vol. 4(4), p. 52
    pdf

Conference Papers

2026
  1. [C49]
    Learning myopic mixed-integer nonlinear model predictive control from expert demonstrations
    Orrico, C. A., Heemels, W.P.M.H., Krishnamoorthy, D.
    IFAC World Congress, Busan, South Korea
    pdf
  2. [C48]
    Control Architecture Design based on Primal Decomposition with Local Constraints – Applied to a Thermal Energy Network
    Varadarajan, H. P., Krishnamoorthy, D.
    IFAC World Congress, Busan, South Korea
2025
  1. [C47]
    Value Function Approximation for Nonlinear MPC: Learning a Terminal Cost Function with a Descent Property
    Baltussen, T.M.J.T., Orrico, C. A., Katriniok, A., Heemels, W.P.M.H., Krishnamoorthy, D.
    IEEE Conference on Decision and Control (CDC), Rio de Janeiro, Brazil
    pdf
  2. [C46]
    MPC strategies for density profile control with pellet fueling in nuclear fusion tokamaks under uncertainty
    Orrico, C. A., Varadarajan, H. P., van Berkel, M., Ceelen, L., Bosman, T., Heemels, W.P.M.H., Krishnamoorthy, D.
    IEEE Conference on Decision and Control (CDC), Rio de Janeiro, Brazil
    ★ IEEE CSS TC-PC Outstanding Student Paper Prize pdf
  3. [C45]
    A Scenario-based Model Predictive Control Scheme for Pandemic Response through Non-pharmaceutical Interventions
    Herceg, D., Dell’Oro, M., Bertollo, R., Miura, F., de Klaver, P., Breschi, V., Krishnamoorthy, D., Salazar, M.
    IEEE Conference on Control Technology and Applications (CCTA), San Diego, USA
    pdf
  4. [C44]
    Personalized Meal Bolus Calculator for Type-1 Diabetes Accounting for Diurnal Effects
    Krishnamoorthy, D., Doyle III, F. J.
    IFAC EDT, Valencia, Spain
    pdf
2024
  1. [C43]
    ECCBO: An Inherently Safe Bayesian Optimization with Embedded Constraint Control for Real-Time Optimization
    Krishnamoorthy, D.
    IFAC ADCHEM, Toronto, Canada
    Keynote paper pdf
  2. [C42]
    A Bayesian optimization framework for the automatic tuning of MPC-based shared controllers
    Van der Horst, A., Meere, B., Krishnamoorthy, D., Bakker, S., van de Vrande, B., Stoutjesdijk, H., Alonso, M., Torta, E.
    IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan
    pdf
2023
  1. [C41]
    An Improved Data Augmentation Scheme for Model Predictive Control Policy Approximation
    Krishnamoorthy, D.
    IEEE Conference on Decision and Control (CDC), Singapore
    pdf
  2. [C40]
    Mixed-Integer MPC Strategies for Fueling and Density Control in Fusion Tokamaks
    Orrico, C. A., van Berkel, M., Bosman, T., Heemels, W.P.M.H., Krishnamoorthy, D.
    IEEE Conference on Decision and Control (CDC), Singapore
    pdf
  3. [C39]
    ALADIN-based Distributed Model Predictive Control with dynamic partitioning: An application to Solar Parabolic Trough Plants
    Chanfreut, P., Maestre, J. M., Krishnamoorthy, D., Camacho, E. F.
    IEEE Conference on Decision and Control (CDC), Singapore
    pdf
  4. [C38]
    Multi-agent Black-box Optimization using a Bayesian Approach to Alternating Direction Method of Multipliers
    Krishnamoorthy, D., Paulson, J.
    IFAC World Congress, Yokohama, Japan
    pdfvideo
  5. [C37]
    On Tuning Parameterized Control Policies Online for Safety-Critical Systems – Applied to Biomedical Systems
    Krishnamoorthy, D.
    IFAC World Congress, Yokohama, Japan
    pdfvideo
  6. [C36]
    Optimizing Surplus Heat Recovery using Fast Fourier Transform-based Extremum Seeking Control
    Krishnamoorthy, D.
    IFAC World Congress, Yokohama, Japan
    pdfvideo
  7. [C35]
    A comparative study of distributed feedback-optimizing control strategies
    Aas, V., Dirza, R., Krishnamoorthy, D., Skogestad, S.
    Computer Aided Chemical Engineering
2022
  1. [C34]
    A Sensitivity-assisted Alternating Directions Method of Multipliers for Distributed Optimization
    Krishnamoorthy, D., Kungurtsev, V.
    IEEE Conference on Decision and Control (CDC), Cancún, Mexico
    pdfvideo
  2. [C33]
    Safe Bayesian Optimization using Interior-Point Methods – Applied to Personalized Insulin Dose Guidance
    Krishnamoorthy, D., Doyle III, F. J.
    IEEE Conference on Decision and Control (CDC), Cancún, Mexico
    pdf
  3. [C32]
    Personalized Dose Guidance using Safe Bayesian Optimization
    Krishnamoorthy, D., Doyle III, F. J.
    NeurIPS Workshop on Learning from Time Series for Health, New Orleans, USA
    Spotlight paper
  4. [C31]
    Personalized Dose Guidance using Safe Bayesian Optimization
    Krishnamoorthy, D., Doyle III, F. J.
    Machine Learning for Health (ML4H), New Orleans, USA
    pdfvideo
  5. [C30]
    Real-Time Optimal Resource Allocation Using Online Primal Decomposition
    Dirza, R., Rizwan, M., Skogestad, S., Krishnamoorthy, D.
    IFAC-PapersOnLine, Vol. 55(21), pp. 31–36
    pdf
  6. [C29]
    Optimal Operation of Heat Exchanger Networks with Changing Active Constraint Regions
    Bernardino, L. F., Krishnamoorthy, D., Skogestad, S.
    Computer Aided Chemical Engineering, Vol. 49, pp. 421–426
  7. [C28]
    Primal-dual Feedback-optimizing Control with Direct Constraint Control
    Dirza, R., Krishnamoorthy, D., Skogestad, S.
    Computer Aided Chemical Engineering, Vol. 49, pp. 1153–1158
    pdf
  8. [C27]
    Comparison of Simple Feedback Control Structures for Constrained Optimal Operation
    Bernardino, L. F., Krishnamoorthy, D., Skogestad, S.
    IFAC-PapersOnLine, Vol. 55(7), pp. 883–888
    pdf
2021
  1. [C26]
    An Adaptive Correction Scheme for Offset-Free Asymptotic Performance in Deep Learning-based Economic MPC
    Krishnamoorthy, D., Mesbah, A., Paulson, J.
    IFAC ADCHEM
    pdfslidesvideo
  2. [C25]
    Optimal Resource Allocation using Distributed Feedback Real-time Optimization
    Dirza, R., Skogestad, S., Krishnamoorthy, D.
    IFAC ADCHEM
    Keynote paper pdfslideskeynote talk
  3. [C24]
    A Model-free Approach to Automatic Dose Guidance in Long Acting Insulin Treatment of Type 2 Diabetes
    Krishnamoorthy, D., Boiroux, D., Aradóttir, T. B., Engell, S. E., Jørgensen, J. B.
    American Control Conference (ACC)
    pdfslides
  4. [C23]
    Adaptive Horizon Multistage Nonlinear Model Predictive Control
    Mdoe, Z., Krishnamoorthy, D., Jäschke, J.
    American Control Conference (ACC)
    pdf
  5. [C22]
    Multi-scenario Design Optimization using ADMM of a Thermal Energy Storage system
    Prakash, S., Krishnamoorthy, D., Jäschke, J.
    Computer Aided Chemical Engineering, ESCAPE 31
    pdf
2020
  1. [C21]
    Real-time Optimal Resource Allocation in an Industrial Symbiotic Network using Transient Measurements
    Krishnamoorthy, D., Valli, C., Skogestad, S.
    American Control Conference (ACC), pp. 3541–3546, Denver, USA
    pdfslidesvideo
  2. [C20]
    Linear Combination of Gradients as Optimal Controlled Variables
    Krishnamoorthy, D., Skogestad, S.
    Computer Aided Chemical Engineering, ESCAPE 30
    pdfslides
2019
  1. [C19]
    Multistage Model Predictive Control with Online Scenario Tree Update using Recursive Bayesian Weighting
    Krishnamoorthy, D., Jäschke, J., Skogestad, S.
    European Control Conference (ECC), Naples, Italy
    pdfslides
  2. [C18]
    Dynamic extremum seeking control applied to a gas lifted well network
    Krishnamoorthy, D., Ryu, J., Skogestad, S.
    IFAC DYCOPS-CAB, Florianópolis, Brazil
    pdf
  3. [C17]
    Model Predictive Control with Reconfiguration Strategy applied to an Electric Submersible Pump in a subsea environment
    Delou, P., Azevedo, J., Krishnamoorthy, D., de Souza Jr, M., Secchi, A.
    IFAC DYCOPS-CAB, Florianópolis, Brazil
    pdf
  4. [C16]
    Data-driven Multistage Model Predictive Control of a Thermal Storage System with Time-Varying Uncertainty
    Thombre, M., Krishnamoorthy, D., Jäschke, J.
    IFAC DYCOPS-CAB, Florianópolis, Brazil
    pdf
  5. [C15]
    A feedback Real time optimization strategy applied to an evaporator process
    Krishnamoorthy, D., Jahanshahi, E., Skogestad, S.
    PSE Asia, Bangkok, Thailand
2018
  1. [C14]
    Improving Scenario Decomposition for Multistage MPC using a Sensitivity-based Path-following Algorithm
    Krishnamoorthy, D., Foss, B., Suwartadi, E., Jäschke, J., Skogestad, S.
    IEEE Conference on Decision and Control (CDC), Miami Beach, USA
    pdf
  2. [C13]
    A distributed algorithm for scenario-based model predictive control using primal decomposition
    Krishnamoorthy, D., Foss, B., Skogestad, S.
    IFAC ADCHEM, Shenyang, China
    ★ IFAC Young Author Award finalist Keynote paper pdf
  3. [C12]
    Data-driven scenario selection for multistage robust model predictive control
    Krishnamoorthy, D., Thombre, M., Jäschke, J., Skogestad, S.
    IFAC NMPC, Madison, USA
    pdf
  4. [C11]
    Gas-lift Optimization by Controlling Marginal Gas-Oil Ratio using Transient Measurements
    Krishnamoorthy, D., Jahanshahi, E., Skogestad, S.
    IFAC OOGP, IFAC-PapersOnLine 51(8), pp. 19–24, Esbjerg, Denmark
    ★ IFAC-ABB Best Student Paper Award pdf
  5. [C10]
    Fast Economic Model Predictive Control for a Gas Lifted Well Network
    Suwartadi, E., Krishnamoorthy, D., Jäschke, J.
    IFAC OOGP, IFAC-PapersOnLine 51(8), pp. 25–30, Esbjerg, Denmark
    pdf
  6. [C9]
    Slug handling with a virtual harp based on nonlinear predictive control for a gravity separator
    Backi, C. J., Krishnamoorthy, D., Skogestad, S.
    IFAC OOGP, IFAC-PapersOnLine 51(8), pp. 120–125, Esbjerg, Denmark
  7. [C8]
    A Distributed Optimization Strategy for Large scale Oil and Gas Production Systems
    Krishnamoorthy, D., Aguiar, M. A. M., Foss, B., Skogestad, S.
    IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Denmark
    pdf
  8. [C7]
    Combined nonlinear moving horizon estimation and model predictive control applied to a compressor for active surge control
    Backi, C. J., Krishnamoorthy, D., Verheyleweghen, A., Skogestad, S.
    IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Denmark
    pdf
  9. [C6]
    Control of the Steady-State Gradient of an Ammonia Reactor using Transient Measurements
    Bonnowitz, H., Straus, J., Krishnamoorthy, D., Skogestad, S.
    Computer Aided Chemical Engineering, Vol. 43, pp. 1111–1116 (ESCAPE 28, Graz)
    pdf
  10. [C5]
    Changing between Active Constraint Regions for Optimal Operation: Classical Advanced Control versus Model Predictive Control
    Reyes-Lúa, A., Zotica, C., Das, T., Krishnamoorthy, D., Skogestad, S.
    Computer Aided Chemical Engineering, Vol. 43, pp. 1015–1020 (ESCAPE 28, Graz)
    Keynote paper, presented by S. Skogestad pdf
2017
  1. [C4]
    Gas-lift optimization under uncertainty
    Krishnamoorthy, D., Foss, B., Skogestad, S.
    Computer Aided Chemical Engineering, Vol. 40, pp. 1753–1758 (ESCAPE 27, Barcelona)
    pdf
2016
  1. [C3]
    Robust Extremum Seeking Control with application to Gas Lifted Oil Wells
    Krishnamoorthy, D., Pavlov, A., Li, Q.
    IFAC-PapersOnLine, Vol. 49(13), pp. 205–210
    pdf
  2. [C2]
    Modelling and Robustness Analysis of Model Predictive Control for Electrical Submersible Pump Lifted Heavy Oil Wells
    Krishnamoorthy, D., Bergheim, E. M., Pavlov, A., Fredriksen, M., Fjalestad, K.
    IFAC DYCOPS, IFAC-PapersOnLine 49(7), pp. 544–549, Trondheim, Norway
    pdf
2014
  1. [C1]
    Modelling and model predictive control of oil wells with electric submersible pumps
    Pavlov, A., Krishnamoorthy, D., Fjalestad, K., Aske, E., Fredriksen, M.
    IEEE Conference on Control Applications (CCA), pp. 586–592, Antibes, France

Patents

  1. [P3]
    Systems and methods for personalized insulin titration
    Ryde, T.E., Krishnamoorthy, D., Aradottir, T.B., Bengtsson, H., Boiroux, D.
    EP4473540A1, JP2025503223A, CN118661227A, US20250118409A1 (2022)
    link
  2. [P2]
    Estimating flow rate at a pump
    Krishnamoorthy, D., Fjalestad, K.
    WO2017061873A1, CA3001234A1, GB2543048A, RU2737055C2 (2017)
    granted link
  3. [P1]
    Well Control System
    Aske, E., Krishnamoorthy, D., Fjalestad, K., Pavlov, A., Fredriksen, M.
    WO2015070913A1, CA2930653A1, US20160290077A1, GB2535090B (2014)
    granted link

Theses

  1. Novel Approaches to Online Process Optimization under Uncertainty
    Krishnamoorthy, D.
    PhD Thesis, NTNU (2019)
    pdfslides
  2. Efficient Algorithm Implementation of Model Predictive Control
    Krishnamoorthy, D.
    MSc Thesis, Imperial College London (2012)
    pdfslides

Press, Media and Other

  1. Interview in Universitetsavisa (in Norwegian) in connection with my PhD Excellence Award.
    link
  2. Contribution to the biography of Prof. Jens G. Balchen, Alltid Rabiat, by Gard Paulsen (in Norwegian).
    forewordbook
  3. Report on an age-dependent epidemiological model of COVID-19 to assist policy makers in Norway, communicated to the Director-General of the Norwegian Institute of Public Health (NIPH) on 23 March 2020.
    report